ORCID
- Borja, Pablo: 0000-0001-7744-0846
Abstract
The morphology of a system may be exploited to reduce the controller workload or to perform specific tasks, e.g., locomotion processes. However, understanding and characterizing these capacities in terms of physical quantities remains an open problem. In this paper, we pose the question: are energy and dissipation useful physical quantities to characterize morphological capacities? First, to illustrate the relevance of this question, we present some basic concepts of passivity theory that are useful for carrying out an energy-based analysis of the behavior of dynamical systems. Then, we analyze the behavior of a mechanical system, and we show how its morphology affects its energy. Finally, we present a detailed analysis of a passive walker and explain how its locomotion capacities can be interpreted in terms of energy.
DOI
10.1088/1757-899X/1292/1/012005
Publication Date
2023-10-01
Publication Title
IOP Conference Series: Materials Science and Engineering
Volume
1292
Issue
1
ISSN
1757-8981
Organisational Unit
School of Engineering, Computing and Mathematics
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
Recommended Citation
Borja, P., Santina, C., & Dabiri, A. (2023) 'Energy, Passivity, and Morphological Capacities', IOP Conference Series: Materials Science and Engineering, 1292(1). Available at: https://doi.org/10.1088/1757-899X/1292/1/012005
